Lab Members and Liquid Handling Systems and Methods Including Same

ABSTRACT

A laboratory liquid handling system includes a pipetting module, a lab member, and a drive system. The pipetting module includes a pipettor including a pipettor shaft and a pipetting tip extending from an end of the pipettor shaft. The lab member includes a body and at least one adapter structure including an interlock feature configured to laterally receive and interlock with the pipettor shaft to releasably secure the lab member to the pipettor shaft. The drive system is operable to: selectively move the pipettor shaft laterally relative to the interlock structure to engage the pipettor shaft with the interlock structure to secure the lab member to the pipetting module; move the pipetting module to transport the lab member secured thereto; and selectively move the pipettor shaft laterally relative to the interlock structure to disengage the pipettor shaft from the interlock structure to thereby release the lab member.

RELATED APPLICATION(S)

The present application claims the benefit of and priority from U.S.Provisional Patent Application Ser. No. 61/617,883, filed Mar. 30, 2012,the disclosure of which is incorporated herein by reference in itsentirety.

FIELD

The present technology relates to laboratory liquid handling systemsand, more particularly, to lab members for use in laboratory liquidhandling systems and laboratory liquid handling systems and methodsincorporating the same.

BACKGROUND

Laboratory liquid handling systems are used to transport and operate onvolumes of liquid. For example, one or more liquid samples may beprovided in containers (e.g., microwell plates or vials) in a liquidhandling system. The liquid handling system may include one or morepipettors that are used to remove (e.g., by aspirating) portions of thesamples from the containers and/or to add (e.g., by dispensing) materialto the samples in the containers. In some cases, it may be desirable ornecessary to move labware or tools within the system. For example, itmay be desired to place a lid on a container, to remove a lid from acontainer, or to move a container (e.g., to a heating station, agitatoror sensor). It may be desirable or necessary to execute theaforedescribed procedures robotically and, in some cases, automaticallyand programmatically.

SUMMARY

According to embodiments of the technology, a laboratory liquid handlingsystem includes a pipetting module, a lab member, and a drive system.The pipetting module includes a pipettor. The pipettor includes apipettor shaft and a pipetting tip extending from an end of the pipettorshaft. The lab member includes a body and at least one adapter structureincluding an interlock feature configured to laterally receive andinterlock with the pipettor shaft to releasably secure the lab member tothe pipettor shaft. The drive system is operable to: selectively movethe pipettor shaft laterally relative to the interlock structure toengage the pipettor shaft with the interlock structure to secure the labmember to the pipetting module; move the pipetting module to transportthe lab member secured thereto; and selectively move the pipettor shaftlaterally relative to the interlock structure to disengage the pipettorshaft from the interlock structure to thereby release the lab memberfrom the pipetting module.

In some embodiments, the laboratory liquid handling system furtherincludes a cradle adapted to be engaged and transported by the labmember. The cradle is configured to removably support a lab object.According to some embodiments, the lab object includes a liquidcontainer configured to hold a quantity of a liquid, and the lab memberincludes a lid configured to close the liquid container and removablefrom the liquid container.

In some embodiments, the pipetting module includes a second pipettorincluding a second pipettor shaft and a second pipetting tip extendingfrom an end of the second pipettor shaft. The at least one adaptorstructure includes a second interlock feature configured to laterallyreceive and interlock with the second pipettor shaft to releasablysecure the lab member to the second pipettor shaft. According to someembodiments, the first interlock structure includes a firstsubstantially U-shaped support flange defining a first flange slot and afirst lateral opening in communication with the first flange slot, thesecond interlock structure includes a second substantially U-shapedsupport flange defining a second flange slot and a second lateralopening in communication with the second flange slot, and the first andsecond support flanges are opposingly arranged such that the first andsecond lateral openings face one another.

According to some embodiments, the laboratory liquid handling systemincludes a liquid handler fluidly connected to the pipetting tip andoperable to dispense and/or aspirate a liquid through the pipetting tip.

According to method embodiments of the technology, a method fortransporting a lab member using a laboratory liquid handling systemincluding a pipetting module and a drive system, the pipetting moduleincluding a pipettor, the pipettor including a pipettor shaft and apipetting tip extending from an end of the pipettor shaft, includesproviding a lab member including: a body; and at least one adapterstructure including an interlock feature configured to laterally receiveand interlock with the pipettor shaft to releasably secure the labmember to the pipettor shaft. The method further includes: selectivelymoving the pipettor shaft laterally relative to the interlock structureto engage the pipettor shaft with the adapter structure to secure thelab member to the pipetting module; moving the pipetting module totransport the lab member secured thereto; and selectively moving thepipettor shaft laterally relative to the interlock structure todisengage the pipettor shaft from the interlock structure to therebyrelease the lab member from the pipetting module.

In some embodiments, the method further includes: providing a cradleremovably supporting a lab object; engaging the cradle with the labmember; and transporting the cradle and the lab object supported therebyusing the pipetting module. In some embodiments, the lab object includesa liquid container configured to hold a quantity of a liquid, and thelab member includes a lid configured to close the liquid container andremovable from the liquid container.

According to some embodiments, the pipetting module includes a secondpipettor including a second pipettor shaft and a second pipetting tipextending from an end of the second pipettor shaft, the at least oneadaptor structure includes a second interlock feature configured tolaterally receive and interlock with the second pipettor shaft toreleasably secure the lab member to the second pipettor shaft, and themethod includes: selectively moving the second pipettor shaft laterallyrelative to the second interlock structure to engage the second pipettorshaft with the second interlock structure to secure the lab member tothe second pipetting module; and selectively moving the second pipettorshaft laterally relative to the second interlock structure to disengagethe second pipettor shaft from the second interlock structure to therebyrelease the lab member from the second pipetting module. In someembodiments, the first interlock structure includes a firstsubstantially U-shaped support flange defining a first flange slot and afirst lateral opening in communication with the first flange slot, thesecond interlock structure includes a second substantially U-shapedsupport flange defining a second flange slot and a second lateralopening in communication with the second flange slot, the first andsecond support flanges are opposingly arranged such that the first andsecond lateral openings face one another, and the method includesselectively moving the first and second pipettor shafts in opposedlateral directions to insert the first and second pipettor shafts intothe first and second flange slots, respectively. The method may includevertically moving the first and second pipettor shafts into positionbetween the first and second flange slots prior to the step ofselectively moving the first and second pipettor shafts in opposedlateral directions to insert the first and second pipettor shafts intothe first and second flange slots. In some embodiments, the step ofvertically moving the first and second pipettor shafts into positionbetween the first and second flange slots requires substantially zeroinsertion force.

According to some embodiments, the laboratory liquid handling systemincludes a liquid handler fluidly connected to the pipetting tip, andthe method further includes dispensing and/or aspirating a liquidthrough the pipetting tip.

According to embodiments of the technology, a lab member for use in alaboratory liquid handling system including a pipetting module and adrive system, the pipetting module including a pipettor, the pipettorincluding a pipettor shaft and a pipetting tip extending from an end ofthe pipettor shaft, includes a body and at least one adapter structure.The at least one adapter structure includes an interlock featureconfigured to laterally receive and interlock with the pipettor shaft toreleasably secure the lab member to the pipettor shaft.

In some embodiments, the pipetting module includes a second pipettorincluding a second pipettor shaft and a second pipetting tip extendingfrom an end of the second pipettor shaft, and the at least one adaptorstructure includes a second interlock feature configured to laterallyreceive and interlock with the second pipettor shaft to releasablysecure the lab member to the second pipettor shaft. According to someembodiments, the first interlock structure includes a firstsubstantially U-shaped support flange defining a first flange slot and afirst lateral opening in communication with the first flange slot, thesecond interlock structure includes a second substantially U-shapedsupport flange defining a second flange slot and a second lateralopening in communication with the second flange slot, and the first andsecond support flanges are opposingly arranged such that the first andsecond lateral openings face one another.

Further features, advantages and details of the present technology willbe appreciated by those of ordinary skill in the art from a reading ofthe figures and the detailed description of the preferred embodimentsthat follow, such description being merely illustrative of the presenttechnology.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram of a laboratory liquid handling systemincluding a lab object handling system according to embodiments of thepresent technology.

FIG. 2 is a fragmentary, perspective view of the laboratory liquidhandling system of FIG. 1.

FIG. 3 is a cross-sectional view of a pipettor forming a part of thelaboratory liquid handling system of FIG. 1.

FIG. 4 is a top perspective view of a lifting device forming a part ofthe lab object handling system of FIG. 1.

FIG. 5 is a top perspective view of an adapter structure forming a partof the lifting device of FIG. 4.

FIG. 6 is a top perspective view of a cradle forming a part of the labobject handling system of FIG. 1.

FIG. 7 is a top perspective view of a lifting device holder forming apart of the laboratory liquid handling system of FIG. 1.

FIG. 8 is an end view of a pipetting module and the lifting devicepositioned to initiate a procedure for engaging and moving the liftingdevice in accordance with method embodiments of the present technology.

FIGS. 9-12 are fragmentary, center lateral cross-sectional views of thepipetting module and the lifting device illustrating steps of theprocedure for engaging and moving the lifting device.

FIG. 13 is a fragmentary, cross-sectional view of the pipetting moduleand lifting device of FIG. 12 taken along the line 13-13 of FIG. 12.

FIG. 14 is a cross-sectional view of the pipetting module and liftingdevice of FIG. 12 taken along the line 14-14 of FIG. 13.

FIGS. 15-19 illustrate steps of a procedure according to methodembodiments of the technology for moving a lab object.

FIG. 20 is a schematic diagram representing a controller forming a partof the laboratory liquid handling system of FIG. 1.

DESCRIPTION OF EMBODIMENTS OF THE TECHNOLOGY

The present technology now will be described more fully hereinafter withreference to the accompanying drawings, in which illustrativeembodiments of the technology are shown. In the drawings, the relativesizes of regions or features may be exaggerated for clarity. Thistechnology may, however, be embodied in many different forms and shouldnot be construed as limited to the embodiments set forth herein; rather,these embodiments are provided so that this disclosure will be thoroughand complete, and will fully convey the scope of the technology to thoseskilled in the art.

It will be understood that when an element is referred to as being“coupled” or “connected” to another element, it can be directly coupledor connected to the other element or intervening elements may also bepresent. In contrast, when an element is referred to as being “directlycoupled” or “directly connected” to another element, there are nointervening elements present. Like numbers refer to like elementsthroughout. As used herein the term “and/or” includes any and allcombinations of one or more of the associated listed items.

In addition, spatially relative terms, such as “under”, “below”,“lower”, “over”, “upper” and the like, may be used herein for ease ofdescription to describe one element or feature's relationship to anotherelement(s) or feature(s) as illustrated in the figures. It will beunderstood that the spatially relative terms are intended to encompassdifferent orientations of the device in use or operation in addition tothe orientation depicted in the figures. For example, if the device inthe figures is turned over, elements described as “under” or “beneath”other elements or features would then be oriented “over” the otherelements or features. Thus, the exemplary term “under” can encompassboth an orientation of over and under. The device may be otherwiseoriented (rotated 90 degrees or at other orientations) and the spatiallyrelative descriptors used herein interpreted accordingly.

The terminology used herein is for the purpose of describing particularembodiments only and is not intended to be limiting of the technology.As used herein, the singular forms “a”, “an” and “the” are intended toinclude the plural forms as well, unless the context clearly indicatesotherwise. It will be further understood that the terms “comprises”and/or “comprising,” when used in this specification, specify thepresence of stated features, integers, steps, operations, elements,and/or components, but do not preclude the presence or addition of oneor more other features, integers, steps, operations, elements,components, and/or groups thereof.

Unless otherwise defined, all terms (including technical and scientificterms) used herein have the same meaning as commonly understood by oneof ordinary skill in the art to which this technology belongs. It willbe further understood that terms, such as those defined in commonly useddictionaries, should be interpreted as having a meaning that isconsistent with their meaning in the context of the relevant art andthis specification and will not be interpreted in an idealized or overlyformal sense unless expressly so defined herein.

The term “automatically” means that the operation is substantially, andmay be entirely, carried out without human or manual input, and can beprogrammatically directed or carried out.

The term “programmatically” refers to operations directed and/orprimarily carried out electronically by computer program modules, codeand/or instructions.

The term “electronically” includes both wireless and wired connectionsbetween components.

The term “monolithic” means an object that is a single, unitary pieceformed or composed of a material without joints or seams.

With reference to FIGS. 1-20, a lab object handling system 100 accordingto embodiments of the present technology is shown therein. The labobject handling system 100 forms a part of a laboratory liquid handlingsystem 10 (FIG. 1) according to embodiments of the present technology.

With reference to FIG. 1, the system 10 as illustrated includes aplatform or deck 12, a frame 20, a controller 30, a human machineinterface (HMI) 33, a liquid handler 40, a drive system 50, and apipetting gantry or module 60. A lab object 160 is disposed on the deck12. The lab object 160 may include, for example, labware such as amicrowell plate, a rack containing one or more vials or another suitabletype of liquid container or receptacle. The lab object 160 may belocated in a container rack or holder 164. A lifting device rack orholder 162 and a further rack or holder 166 for the lab object 160 mayalso be provided on the deck 12.

The frame 20 includes supports 22 and one or more conveyor rails 24. Thedrive system 50 includes a shuttle or carrier 52 operatively mounted onthe rail(s) 24 to enable the carrier 52 to move relative to the deck 12.According to some embodiments, the carrier 52 has freedom of movement inat least two lateral degrees (i.e., in an X dimension and a Ydimension). The pipetting module 60 is coupled to and suspended from thecarrier 52 by an extension arm 62 such that the pipetting module 60moves with the carrier 52. The carrier 52 can be driven by a motor ormotors 54 under the control of the controller 30. The pipetting module60 can be further movable in a Z dimension by a motor or motors 56 underthe control of the controller 30. A further motor or motors 58 under thecontrol of the controller 30 may be provided to move or repositionfurther components of the pipetting module 60 as described below.

The liquid handler 40 may be any suitable apparatus that can aspirateand/or dispense a desired amount of a liquid from or into a container.The liquid handler 40 may include, for example, a syringe or pumpfluidly connected to the pipetting module 60 by one or more lengths oftubing 42. The liquid handler 40 may be controlled by the controller 30.

With reference to FIG. 1, the pipetting module 60 includes a housing 64connected to the lower end of the extension arm 62. The pipetting module60 further includes four pipettors 72, 74, 76 and 78 each coupled to thehousing 64 by a respective actuator assembly 72A, 74A, 76A, 78A. Anactuator 79 is provided to control the relative positions of thepipettors 72, 74, 76, 78 along the Y axis. As discussed herein,pipetting modules having more or fewer pipettors and actuators may beemployed in some embodiments.

A cross-sectional view of the pipettor 72 is shown in FIG. 3 and thepipettors 74, 76, 78 may be constructed in the same manner. Eachpipettor 72, 74, 76, 78 includes a pipettor shaft 80, a liquid tube 82,an ejector sleeve 84, and an end wall 86. According to some embodiments,the pipettor shaft 80 is formed of metal.

Referring to FIG. 3, the pipettor shaft 80 defines a passage 80Btherethrough that terminates at an opening 80E in a lower terminal end80A of the pipettor shaft 80. A lower section 80F of the shaft 80extends beyond the ejector sleeve 84. A pair of axially spaced apart,integral annular ribs 80CU and 80 CL are located on the outer surface ofthe lower section 80F proximate the lower terminal end 80A. The ribs80CU, 80CL and a midsection 80G of the lower section 80F define anannular slot or groove 81 therebetween. According to some embodiments,the outer diameter D2 (FIG. 3) of the ribs 80CU, 80CL is in the range offrom about 0.017 inch to 0.022 inch greater than the outer diameter D1of the midsection 80G (i.e., the bottom of the groove 81). The lowerterminal end 80A of the shaft 80 may have a generally rounded shoulder80D. The pipettor shafts 80 of the pipettors 72, 74, 76 and 78 definepipettor axes P1-P1, P2-P2, P3-P3 and P4-P4 (FIG. 8), respectively.

The liquid tube 82 (FIG. 3) extends through the passage 80B such that aprobe or tip section 82C thereof extends beyond the lower terminal end80A a distance D4 to a lower terminal end 82A. The distance D4 can varyand, according to some embodiments, is in the range of from about 0 to0.63 inch. A passage 82B extends through the liquid tube 82 to providefluid communication between an end opening 82D and the liquid handler 40(via the tubing 42). A liquid tight seal can be provided between theliquid tube 82 and the pipettor shaft 80 by the end wall 86.

The ejector sleeve 84 defines a passage 84B and surrounds the pipettorshaft 80. The ejector sleeve 84 is slidable up and down the pipettorshaft 80 under the power of the motor 58 (i.e., along the Z axis).

The actuator assemblies 72A, 74A, 76A and 78A can extend and retract(i.e., lower and raise) the pipettors 72, 74, 76 and 78, respectively,along the Z axis relative to the housing 64 and independently of oneanother. Additionally, each actuator assembly 72A-78A can slidablyextend and retract the ejector sleeve 84 of its associated pipettor72-78 down and up the length of the pipettor shaft 80 on which theejector sleeve 84 is mounted.

The actuator 79 can be used to selectively spread the pipettors 72-78apart from one another along the Y axis. More particularly, thepipettors 72-78 can assume a laterally retracted position as shown inFIGS. 8-10 wherein the pipettors 72-78 are positioned in relativelyclose proximity to one another. The actuator 79 can drive each pipettor72, 74, 76 laterally (along the Y axis) to the left away from thepipettor to its right so that the pipettors 72-78 assume a laterallyextended or expanded position as shown in FIG. 12. In the illustratedembodiment, the pipettor 78 is held stationary, relative to the carrierhousing 60. However, other arrangements may be used such as expandingall of the pipettors 72-78 from the center or holding the oppositepipettor 72 stationary while laterally moving the other pipettors 74,76, 78 apart along the Y axis.

The lab object handling system 100 includes a lab member in the form ofa primary carrier or lifting device 110 (hereinafter, the lifting device110; FIG. 4) and a frame, secondary carrier, secondary adapter or cradle150 (hereinafter, the cradle 150; FIG. 6). The lifting device 110 andthe cradle 150 can be combined to form a carrier assembly 105 (FIG. 17),as discussed below.

The lifting device 110 (FIG. 4) includes a carrier body 120, a set ofstabilizer posts 122 extending upwardly from the carrier body 120, andan adapter structure 130 mounted on top of the carrier body 120. Theadapter structure 130 may be affixed to the body 120 by any suitabletechnique, such as fasteners 5, adhesive, welding, or unitary molding ormachining.

According to some embodiments and as shown, the lifting device 110 is alid assembly and the carrier body 120 includes a frame 125 adapted toreleasably hold and retain a lid 160A configured to cover the plate 160.A latch mechanism 124 (e.g., spring-actuated) may be provided to retainthe lid 160A.

The adapter structure 130 (FIGS. 4, 5, 9 and 14) includes an elongatemain slot 134 communicating with an elongate top opening 135. The slot134 and the opening 135 are elongated along the Y axis. The slot 134 isdefined by opposed side walls 138A (FIG. 13) and opposed end walls 138Band 138C (FIG. 9). The slot 134 defines a slot axis C-C.

A support flange 140 (herein referred to as the left support flange) anda support flange 142 (herein referred to as the right support flange)are provided on the ends 134A and 134B, respectively, of the slot 134and extend laterally inwardly into the slot 134 from the walls 138A,138B, 138C. Each support flange 140, 142 is generally U-shaped anddefines a flange slot 146B and a sideward or lateral opening 146Acommunicating with the slot 146B. Each support flange 140, 142 has anend section 148A and opposed side sections 148B. The terminal ends 144of the flanges 140, 142 may be tapered to assist ingress into the slots146B. The lateral openings 146A of the support flanges 140, 142 arearranged in an opposed, facing relationship along the slot axis C-C.Each flange slot 146B defines an insertion axis D-D, E-E parallel to theaxis C-C.

According to some embodiments, the height H (FIG. 14) of each supportflange 140, 142 is in the range of from about 0.019 inch to 0.029 inch.

The adapter structure 130 may be formed of any suitable material(s) suchas a moldable or machinable polymeric material. In some embodiments, theadapter structure 130 is formed of polyether ether ketone (PEEK). Theadapter structure 130 may be formed using any suitable techniques, suchas injection molding.

The cradle 150 includes a base 152, a pair of inwardly extending supportflanges 156, and a pair of uprights 154 connecting the support flanges156 to the base 152. The base 152 as illustrated defines an opening andis configured to cradle and support the plate 160. Stabilizer slots 158are defined in the support flanges 156.

Exemplary operation of the system 10 and use of the lab object handlingsystem 100 in accordance with methods of the present technology will nowbe described with reference to FIGS. 8-19. Initially, the lifting device110 may be seated in the holder 162 (as shown in FIG. 1) and the labobject 160 may be seated in the holder 164 on the deck 12 (as shown inFIGS. 1 and 2). The lab object 160 may be seated in the base 152 of thecradle 150. The lab object 160 may be a microwell plate containing oneor more liquid samples, for example. When it is desired to move the labobject 160, the pipetting module 60 and the system 100 can be used asfollows. According to some embodiments, the following procedure isexecuted via or by the controller 30, which controls actuation of thedrive motors 54, 56, 58.

The pipetting module 60 is repositioned on the frame 20 and with respectto the deck as needed to align the pipettor axes P1-P1, P2-P2, P3-P3 andP4-P4 with the slot 134, as shown in FIGS. 8 and 9. If needed, thecontroller 30 may adjust the height of the pipetting module 60 (e.g.,lower the pipetting module 60).

With the pipettors 72-78 in the laterally retracted position, thecontroller 30 then drives the pipettors 72, 74, 76, 78 down (i.e., inthe direction −Z) along the axes P1-P1, P2-P2, P3-P3, and P4-P4 suchthat the pipettor shafts 80 thereof are inserted into the slot 134 asshown in FIG. 10. The pipettors 72, 74, 76, 78 can be driven in thismanner by (under the control of the controller 30) driving the housing64 down with respect to the deck 12 (as shown) and/or by extending theindividual pipettors 72, 74, 76, 78 downwardly with respect to thehousing 64 using the actuator assemblies 72A, 74A, 76A, 78A.

The controller 30 then moves the pipetting module 60 (and thereby thepipettors 72-78 as a group) along the Y axis in a lateral insertiondirection I (along the axis D-D) to the position as shown in FIG. 11. Inthis manner, the pipettor 78 is slid laterally into the flange slot 146Bof the support flange 142. In this position, the support flange 142 isaxially captured in the pipettor groove 81 of the pipettor 78 betweenthe annular ribs 80CL, 80CU.

The controller 30 then actuates the module 60 to move the pipettors 72,74, 76 into the laterally expanded position as shown in FIG. 12. Indoing so, the pipettor 72 is slid laterally to the left in a lateraldirection J (along the axis E-E) into the flange slot 146B of thesupport flange 140. The flange 140 is thereby likewise axially capturedin the pipettor groove 81 of the pipettor 72.

With reference to FIGS. 12-14, it will be appreciated that the pipettors72 and 78 are now prevented from being vertically or axially (i.e.,along the Z axis) withdrawn from the flange slots 146B by the mechanicalinterlock between the support flanges 140, 142 and their annular ribs80CL. That is, the support flanges 140, 142 and the annular ribs 80CLserve as cooperating interlock structures. The pipettors 72 and 78 arealso prevented from being laterally withdrawn from the slots 146B byfixed, expanded width or spacing between the pipettors 72 and 78.

With the lifting device 110 now securely mounted on the pipetting module60, the controller 30 can lift and transport the lifting device 110using the module 60. The lifting device 110 is laterally insertedbetween the uprights 154 as shown in FIG. 15, then raised to engage thebody 120 with the support flanges 156 and the stabilizer posts 122 withthe stabilizer slots 158 to form the carrier assembly 105 as shown inFIGS. 16 and 17.

The carrier assembly 105 may thereafter be used to lift and transportthe plate 160 using the module 60 under the direction of the controller30, as shown in FIGS. 18 and 19. By way of example, the carrier assembly105 can be used to transport the plate 160 from the holder 164 to thetray 166 and deposit the plate 160 in the tray 166.

The lifting device 110 can then be removed from the cradle 150 byreversing the foregoing steps, leaving the cradle 150 and the plate 160behind. The pipetting module 60 can be disengaged from the adapterstructure 130 by reversing the foregoing steps (that is, by laterallyretracting the pipettors 72-78 from the slots 146B and then raising thepipettors 72-78 from the slot 134). The module 60 may be disengaged fromthe adapter structure 130 while the lifting device 110 is on the plate160 (in order to keep the lid 160A on the plate 160, if desired) orafter the lifting device 110 has been relocated away from the plate 160.The lifting device 110 may be parked for later re-use. FIG. 7 shows anexemplary parking holder 162 for the lifting device 110.

The holder 166 may be of any suitable design or functionality. Accordingto some embodiments, the holder 166 includes a heater, mixer, chiller,or magnetic separation unit.

The main slot 134 has a width W1 (FIG. 14) that is greater than theouter diameters D1 (FIG. 3) of the pipettor annular ribs 80CL, 80CU.Each flange slot 146B has a width W2 (FIG. 14) that is less than thediameter D1 of at least the upper annular rib 80CU and that is greaterthan the diameter D2 (FIG. 3) of the midsection 80G between the annularribs 80CL, 80CU.

The lab liquid handling systems and lab object handling systems asdisclosed herein can provide a number of advantages. The lab objecthandling system requires zero insertion force for the pipettors 72-78entering the adapter structure 130. Only standard (robotic) movements ofthe pipettors (pipette mandrels) are required to engage with the adapterstructure or block 130.

The adapter structure can be compliant in its operation, and tolerant toinconsistencies in machine calibration and labware dimensionaltolerances.

The adaptor structure 130 is completely passive. The adapter structure130 requires no additional latching features, springs, O-rings, or othersuch hardware in order to attach to the block and any labware movingdevice the adapter structure 130 may be attached to.

The adapter structure 130 can be designed to lift relatively heavyobjects, on the order of several pounds, within the capabilities of thepipetting module drive mechanism.

The adaptor structure 130 can be applied to many different devicehandlers such that different devices or items could be moved around oron and off the deck of the pipetting workstation without the need ofsecondary robotic gripping mechanisms.

The procedure as described above can be repeated for re-placement of thelab object 160 and/or transport and placement of other members providedwith adapter structures as described.

According to some embodiments and as illustrated, the slot insertionaxes D-D, E-E (FIG. 14) and the insertion directions I, J aresubstantially perpendicular to the insertion direction −Z (e.g.,horizontal or perpendicular to vertical). However, in some embodiments,the lateral insertion directions may be transverse but not perpendicularto the insertion direction (e.g., −Z) of the pipettors in the slot 134.

While U-shaped support flanges 140, 142 have been shown and describedherein, other configurations of interlock structures may be employed inaccordance with other embodiments of the technology.

The pipettors 72, 74, 76, 78 can continue to be used for pipetting usingthe tips 82C thereof when the pipettors 72, 74, 76, 78 are not installedin the adapter structures. Thus, the liquid handling system 10 canotherwise function in known or other desired manner. For example, thecontroller 30 can place one or more of the tips 82C of the pipettors 72,74, 76, 78 in or over a volume of a liquid sample (e.g., in a cell orcells of a microwell plate or other container on the deck 12) and theliquid handler 40 can then aspirate and collect liquid from the volumeor dispense a material into the volume. If liquid is collected, thecontroller 30 can thereafter move the pipettor(s) 72, 74, 76, 78 in orover another location (e.g., cells or containers different from thosefrom which the liquid was collected) and dispense the liquid onto orinto this new location.

According to some embodiments and as illustrated in the drawings, theadapter structure 130 is configured relative to the associated pipettors(i.e., the pipettors 72, 74, 76, 78) such that the tips 82C of thepipettors do not contact the adapter structure when the pipettors areinserted in the adapter structure.

While a pipetting module 60 having four pipettors has been describedabove, embodiments of the technology may include or be adapted for usewith pipetting modules having any suitable number of pipettors (e.g.,eight). Fewer than all of the pipettors of a given pipetting module maybe engaged with the lifting device.

Lab members, lifting devices, systems and methods according toembodiments of the technology can enable a pipettor to be used to pickup, move, assemble, disassemble, and/or release solid objects in aprogrammable method. These capabilities can be provided without therequirement of a separate, dedicated gripper instrument/device. The costand space requirements associated with such gripper instruments/devicescan thereby be avoided. The adapter structures can be configured topermit easily programmable or executable methods for attaching the labmembers to the pipettors and releasing the lab members from thepipettors. The system can be scalable or expandable in that the adapterstructures can be integrated with any suitable device or apparatus.

As noted above, operations described herein can be executed by orthrough the controller 30. The motors 54, 56, 58 and other devices ofthe pipetting module 60 and/or the liquid handler 40 can beelectronically controlled. According to some embodiments, the controller30 programmatically executes some, and in some embodiments all, of thesteps described. According to some embodiments, the movement of thepipetting module 60 to pick up, move and release the lab member is fullyautomatically and programmatically executed by the controller 30.

The controller 30 may be any suitable device for providing thefunctionality described herein. According to some embodiments, thecontroller 30 is an appropriately configured microprocessor-basedpersonal computer.

Embodiments of the controller 30 logic may take the form of an entirelysoftware embodiment or an embodiment combining software and hardwareaspects, all generally referred to herein as a “circuit” or “module.” Insome embodiments, the circuits include both software and hardware andthe software is configured to work with specific hardware with knownphysical attributes and/or configurations. Furthermore, controller 30logic may take the form of a computer program product on acomputer-usable storage medium having computer-usable program codeembodied in the medium. Any suitable computer readable medium may beutilized including hard disks, CD-ROMs, optical storage devices, atransmission media such as those supporting the Internet or an intranet,or other storage devices.

FIG. 20 is a schematic illustration of a circuit or data processingsystem that can be used in the controller 30. The circuits and/or dataprocessing systems may be incorporated in a digital signal processor 32in any suitable device or devices. The processor 32 communicates withthe HMI 33 and memory 34 via an address/data bus 32A. The processor 32can be any commercially available or custom microprocessor. The memory34 is representative of the overall hierarchy of memory devicescontaining the software and data used to implement the functionality ofthe data processing system. The memory 34 can include, but is notlimited to, the following types of devices: cache, ROM, PROM, EPROM,EEPROM, flash memory, SRAM, and DRAM.

FIG. 20 illustrates that the memory 34 may include several categories ofsoftware and data used in the data processing system: the operatingsystem 34A; the application programs 34B; the input/output (I/O) devicedrivers 34C; and data 34D. The data 34D can include equipment-specificdata. FIG. 20 also illustrates that the data 34D can include mappingdata 35A, lab member data 35B, and procedure data 35C. FIG. 20 alsoillustrates that application programs 35B can include a pipettorpositioning module 36A and a liquid handler control module 36B. Themapping data 35A can include data representing the positions (e.g., X, Yand Z coordinates) of objects or components in the work space of thesystem 10, 11. The lab member data 35B can include data representingcharacteristics of a lab member or lab members. The procedure data 35Ccan include data representing a protocol or sequence of steps to executethe procedures described herein. The pipettor positioning module 36A canbe used to control the motors 54, 56, 58, and the actuators 72A-78A, and79, for example, to position and reposition the pipetting module 60, thepipettors 72-78, and the ejector sleeves 84. The liquid handler controlmodule 36B can be used to control actuation of the liquid handler 40 toaspirate and/or dispense fluid.

As will be appreciated by those of skill in the art, the operatingsystem 34A may be any operating system suitable for use with a dataprocessing system, such as OS/2, AIX, DOS, OS/390 or System390 fromInternational Business Machines Corporation, Armonk, N.Y., Windows CE,Windows NT, Windows95, Windows98, Windows2000 or other Windows versionsfrom Microsoft Corporation, Redmond, Wash., Unix or Linux or FreeBSD,Palm OS from Palm, Inc., Mac OS from Apple Computer, LabView, orproprietary operating systems. The I/O device drivers 34C typicallyinclude software routines accessed through the operating system 34A bythe application programs 34B to communicate with devices such as I/Odata port(s), data storage and certain memory components. Theapplication programs 34B are illustrative of the programs that implementthe various features of the data processing system and can include atleast one application, which supports operations according toembodiments of the present technology. Finally, the data 34D representsthe static and dynamic data used by the application programs 34B, theoperating system 34A, the I/O device drivers 34C, and other softwareprograms that may reside in the memory 34.

As will be appreciated by those of skill in the art, otherconfigurations may also be utilized while still benefiting from theteachings of the present technology. For example, one or more of themodules 36A-B may be incorporated into the operating system, the I/Odevice drivers or other such logical division of the data processingsystem. Thus, the present technology should not be construed as limitedto the configuration of FIG. 20, which is intended to encompass anyconfiguration capable of carrying out the operations described herein.Further, one or more of the modules can communicate with or beincorporated totally or partially in other components, such as thecontroller 30.

EXAMPLE

Lab members having integral adapter structures in accordance with thepresent technology may be used or incorporated in any suitablelaboratory liquid handling system. Suitable systems may include theJANUS™ Automated Workstation with any appropriate pipetting arm such asa Varispan™ Pipetting Arm equipped with VersaTip™ pipettors, forexample.

In exemplary embodiments, a lab liquid handling system and a lab objecthandling system in accordance with aspects of the present technologyutilize the pipette tip mounting ends of the JANUS VersaTip™ pipettors(pipetting channels) to pick up and move labware from various positionson the deck of the instrument. The VersaTip™ pipettors enter into aclearance slot in the machined block, and then engage with this block byincreasing the spacing between the tips, thus locking the block onto theVersaTip™ pipettors. This block is also attached to a lifting device.Thus, by keeping the VersaTip™ pipettors in their “open span” condition,the lifting device may be moved around the deck of the instrument usinginstrument operating commands that normally would move the Varispan™arm. This lifting device can then engage with a cradle that holds anitem of labware and move that labware to other positions and devices asrequired in an operating protocol. The lifting device can be disengagedas required so normal pipetting operations can be carried out. Thelifting device can be used as needed within the operating protocol.

The lab object handling system enables the user of a JANUS AutomatedWorkstation (automated liquid pipettor) to transfer labware (e.g.,microplates and similar SBS format plates) between different locationson the deck of the workstation without the need of a separate roboticarm or robotic plate handling device.

The lab object handling system allows for a simpler and less complicatedautomated workstation that is also lower in cost yet still allows forplate and labware movement capability. The device enables theintegration of accessory devices (e.g., heaters, chillers, shakers,magnetic separators, or other such devices that must perform actionsupon the contents of the plate) into a smaller and more cost effectiveliquid handling platform.

A lab object handling system according to embodiments of the technologymay be used with all Varispan JANUS Automated Workstations and similarpipetting devices using VersaTip™ pipettors (or similar) design. The labobject handling system could also be utilized on a Tecan 4- or 8-tipautomated pipetting workstation as the Tecan pipetting mandrel is of thesame design (outside geometry) as the PerkinElmer Versatip.

The exemplary lab object handling system may be formed and used asfollows.

1. The Adapter Block can be machined from PEEK plastic according todesign indicated.

2. Adapter block is attached to lifting frame assembly which moveslabware between different locations on the deck of the JANUS.

3. JANUS moves pipette arm and Versatips over the adapter block, itslocation specified in WinPREP programming.

-   -   a. VersaTip™ pipettors are lowered in the Z-axis by the        Varispan™ arm into the block to a predetermined position.    -   b. VersaTip™ pipettors move forward in the Y direction to place        tip 4 in the correct location and engaging the tip with the        locking feature of the block.    -   c. Varispan™ Arm spreads the VersaTip™ pipettors such that the        span between tips is increased thus engaging tip 1 with the        locking feature of the adapter block at the end opposite of tip        4.    -   d. All four tips are then simultaneously moved together in the Z        direction to raise and lower the adapter block and lifting        device(s) attached to it.

4. The Varispan™ Arm, by moving in the X and Y directions can move theadapter block and plate handler about the deck of the JANUS.

5. When use of the plate moving hardware is complete the release of theadapter block occurs in a sequence of operations opposite of those instep 3 above.

The foregoing is illustrative of the present invention and is not to beconstrued as limiting thereof. Although a few exemplary embodiments ofthis invention have been described, those skilled in the art willreadily appreciate that many modifications are possible in the exemplaryembodiments without materially departing from the novel teachings andadvantages of this invention. Accordingly, all such modifications areintended to be included within the scope of this invention. Therefore,it is to be understood that the foregoing is illustrative of the presentinvention and is not to be construed as limited to the specificembodiments disclosed, and that modifications to the disclosedembodiments, as well as other embodiments, are intended to be includedwithin the scope of the invention.

What is claimed is:
 1. A laboratory liquid handling system comprising: apipetting module including a pipettor, the pipettor including a pipettorshaft and a pipetting tip extending from an end of the pipettor shaft; alab member including a body and at least one adapter structure includingan interlock feature configured to laterally receive and interlock withthe pipettor shaft to releasably secure the lab member to the pipettorshaft; and a drive system operable to: selectively move the pipettorshaft laterally relative to the interlock structure to engage thepipettor shaft with the interlock structure to secure the lab member tothe pipetting module; move the pipetting module to transport the labmember secured thereto; and selectively move the pipettor shaftlaterally relative to the interlock structure to disengage the pipettorshaft from the interlock structure to thereby release the lab memberfrom the pipetting module.
 2. The laboratory liquid handling system ofclaim 1 further including a cradle adapted to be engaged and transportedby the lab member, wherein the cradle is configured to removably supporta lab object.
 3. The laboratory liquid handling system of claim 2wherein: the lab object includes a liquid container configured to hold aquantity of a liquid; and the lab member includes a lid configured toclose the liquid container and removable from the liquid container. 4.The laboratory liquid handling system of claim 1 wherein: the pipettingmodule includes a second pipettor including a second pipettor shaft anda second pipetting tip extending from an end of the second pipettorshaft; and the at least one adaptor structure includes a secondinterlock feature configured to laterally receive and interlock with thesecond pipettor shaft to releasably secure the lab member to the secondpipettor shaft.
 5. The laboratory liquid handling system of claim 4wherein: the first interlock structure includes a first substantiallyU-shaped support flange defining a first flange slot and a first lateralopening in communication with the first flange slot; the secondinterlock structure includes a second substantially U-shaped supportflange defining a second flange slot and a second lateral opening incommunication with the second flange slot; and the first and secondsupport flanges are opposingly arranged such that the first and secondlateral openings face one another.
 6. The laboratory liquid handlingsystem of claim 1 including a liquid handler fluidly connected to thepipetting tip and operable to dispense and/or aspirate a liquid throughthe pipetting tip.
 7. A method for transporting a lab member using alaboratory liquid handling system including a pipetting module and adrive system, the pipetting module including a pipettor, the pipettorincluding a pipettor shaft and a pipetting tip extending from an end ofthe pipettor shaft, the method comprising: providing a lab memberincluding: a body; and at least one adapter structure including aninterlock feature configured to laterally receive and interlock with thepipettor shaft to releasably secure the lab member to the pipettorshaft; selectively moving the pipettor shaft laterally relative to theinterlock structure to engage the pipettor shaft with the adapterstructure to secure the lab member to the pipetting module; moving thepipetting module to transport the lab member secured thereto; andselectively moving the pipettor shaft laterally relative to theinterlock structure to disengage the pipettor shaft from the interlockstructure to thereby release the lab member from the pipetting module.8. The method of claim 7 further including: providing a cradle removablysupporting a lab object; engaging the cradle with the lab member; andtransporting the cradle and the lab object supported thereby using thepipetting module.
 9. The method of claim 8 wherein: the lab objectincludes a liquid container configured to hold a quantity of a liquid;and the lab member includes a lid configured to close the liquidcontainer and removable from the liquid container.
 10. The method ofclaim 7 wherein: the pipetting module includes a second pipettorincluding a second pipettor shaft and a second pipetting tip extendingfrom an end of the second pipettor shaft; the at least one adaptorstructure includes a second interlock feature configured to laterallyreceive and interlock with the second pipettor shaft to releasablysecure the lab member to the second pipettor shaft; and the methodincludes: selectively moving the second pipettor shaft laterallyrelative to the second interlock structure to engage the second pipettorshaft with the second interlock structure to secure the lab member tothe second pipetting module; and selectively moving the second pipettorshaft laterally relative to the second interlock structure to disengagethe second pipettor shaft from the second interlock structure to therebyrelease the lab member from the second pipetting module.
 11. The methodof claim 10 wherein: the first interlock structure includes a firstsubstantially U-shaped support flange defining a first flange slot and afirst lateral opening in communication with the first flange slot; thesecond interlock structure includes a second substantially U-shapedsupport flange defining a second flange slot and a second lateralopening in communication with the second flange slot; the first andsecond support flanges are opposingly arranged such that the first andsecond lateral openings face one another; and the method includesselectively moving the first and second pipettor shafts in opposedlateral directions to insert the first and second pipettor shafts intothe first and second flange slots, respectively.
 12. The method of claim11 including, prior to the step of selectively moving the first andsecond pipettor shafts in opposed lateral directions to insert the firstand second pipettor shafts into the first and second flange slots,vertically moving the first and second pipettor shafts into positionbetween the first and second flange slots.
 13. The method of claim 12wherein the step of vertically moving the first and second pipettorshafts into position between the first and second flange slots requiressubstantially zero insertion force.
 14. The method of claim 1 wherein:the laboratory liquid handling system includes a liquid handler fluidlyconnected to the pipetting tip; and the method further includesdispensing and/or aspirating a liquid through the pipetting tip.
 15. Alab member for use in a laboratory liquid handling system including apipetting module and a drive system, the pipetting module including apipettor, the pipettor including a pipettor shaft and a pipetting tipextending from an end of the pipettor shaft, the lab member comprising:a body; and at least one adapter structure including an interlockfeature configured to laterally receive and interlock with the pipettorshaft to releasably secure the lab member to the pipettor shaft.
 16. Thelab member of claim 15 wherein: the pipetting module includes a secondpipettor including a second pipettor shaft and a second pipetting tipextending from an end of the second pipettor shaft; and the at least oneadaptor structure includes a second interlock feature configured tolaterally receive and interlock with the second pipettor shaft toreleasably secure the lab member to the second pipettor shaft.
 17. Thelab member of claim 16 wherein: the first interlock structure includes afirst substantially U-shaped support flange defining a first flange slotand a first lateral opening in communication with the first flange slot;the second interlock structure includes a second substantially U-shapedsupport flange defining a second flange slot and a second lateralopening in communication with the second flange slot; and the first andsecond support flanges are opposingly arranged such that the first andsecond lateral openings face one another.